Event Transformer +. A Multi-Purpose Solution for Efficient Event Data Processing.

Event cameras record sparse illumination changes with high temporal resolution and high dynamic range. Thanks to their sparse recording and low consumption, they are increasingly used in applications such as AR/VR and autonomous driving. Current top-performing methods often ignore specific event-data properties, leading to the development of generic but computationally expensive algorithms, while event-aware methods do not perform as well. We propose Event Transformer +, that improves our seminal work EvT with a refined patch-based event representation and a more robust backbone to achieve more accurate results, while still benefiting from event-data sparsity to increase its efficiency. Additionally, we show how our system can work with different data modalities and propose specific output heads, for event-stream classification (i.e. action recognition) and per-pixel predictions (dense depth estimation). Evaluation results show better performance to the state-of-the-art while requiring minimal computation resources, both on GPU and CPU.

Analyzing and Decoding Natural Reach-and-Grasp Actions Using Gel, Water and Dry EEG Systems.

Reaching and grasping is an essential part of everybody's life, it allows meaningful interaction with the environment and is key to independent lifestyle. Recent electroencephalogram (EEG)-based studies have already shown that neural correlates of natural reach-and-grasp actions can be identified in the EEG. However, it is still in question whether these results obtained in a laboratory environment can make the transition to mobile applicable EEG systems for home use. In the current study, we investigated whether EEG-based correlates of natural reach-and-grasp actions can be successfully identified and decoded using mobile EEG systems, namely the water-based EEG-Versatile TM system and the dry-electrodes EEG-Hero TM headset. In addition, we also analyzed gel-based recordings obtained in a laboratory environment (g.USBamp/g.Ladybird, gold standard), which followed the same experimental parameters. For each recording system, 15 study participants performed 80 self-initiated reach-and-grasp actions toward a glass (palmar grasp) and a spoon (lateral grasp). Our results confirmed that EEG-based correlates of reach-and-grasp actions can be successfully identified using these mobile systems. In a single-trial multiclass-based decoding approach, which incorporated both movement conditions and rest, we could show that the low frequency time domain (LFTD) correlates were also decodable. Grand average peak accuracy calculated on unseen test data yielded for the water-based electrode system 62.3% (9.2% STD), whereas for the dry-electrodes headset reached 56.4% (8% STD). For the gel-based electrode system 61.3% (8.6% STD) could be achieved. To foster and promote further investigations in the field of EEG-based movement decoding, as well as to allow the interested community to make their own conclusions, we provide all datasets publicly available in the BNCI Horizon 2020 database (http://bnci-horizon-2020.eu/database/data-sets).

Differentiating resting brain states using ordinal symbolic analysis.

Symbolic methods of analysis are valuable tools for investigating complex time-dependent signals. In particular, the ordinal method defines sequences of symbols according to the ordering in which values appear in a time series. This method has been shown to yield useful information, even when applied to signals with large noise contamination. Here, we use ordinal analysis to investigate the transition between eyes closed (EC) and eyes open (EO) resting states. We analyze two electroencephalography datasets (with 71 and 109 healthy subjects) with different recording conditions (sampling rates and the number of electrodes in the scalp). Using as diagnostic tools the permutation entropy, the entropy computed from symbolic transition probabilities, and an asymmetry coefficient (that measures the asymmetry of the likelihood of the transitions between symbols), we show that the ordinal analysis applied to the raw data distinguishes the two brain states. In both datasets, we find that, during the EC-EO transition, the EO state is characterized by higher entropies and lower asymmetry coefficient, as compared to the EC state. Our results thus show that these diagnostic tools have the potential for detecting and characterizing changes in time-evolving brain states.

Reactivating the Dormant Motor Cortex After Spinal Cord Injury With EEG Neurofeedback: A Case Study With a Chronic, Complete C4 Patient.

Chronic spinal cord injury (SCI) patients present poor motor cortex activation during movement attempts. The reactivation of this brain region can be beneficial for them, for instance, allowing them to use brain-machine interfaces for motor rehabilitation or restoration. These brain-machine interfacess generally use electroencephalography (EEG) to measure the cortical activation during the attempts of movement, quantifying it as the event-related desynchronization (ERD) of the alpha/mu rhythm. Based on previous evidence showing that higher tonic EEG alpha power is associated with higher ERD, we hypothesized that artificially increasing the alpha power over the motor cortex of these patients could enhance their ERD (ie, motor cortical activation) during movement attempts. We used EEG neurofeedback (NF) to enhance the tonic EEG alpha power, providing real-time visual feedback of the alpha oscillations measured over the motor cortex. This approach was evaluated in a C4, ASIA A, SCI patient (9 months after the injury) who did not present ERD during the movement attempts of his paralyzed hands. The patient performed 4 NF sessions (in 4 consecutive days) and screenings of his EEG activity before and after each session. After the intervention, the patient presented a significant increase in the alpha power over the motor cortex, and a significant enhancement of the mu ERD in the contralateral motor cortex when he attempted to close the assessed right hand. As a proof of concept investigation, this article shows how a short NF intervention might be used to enhance the motor cortical activation in patients with chronic tetraplegia.

Factors that affect error potentials during a grasping task: toward a hybrid natural movement decoding BCI.

OBJECTIVE: In this manuscript, we consider factors that may affect the design of a hybrid brain-computer interface (BCI). We combine neural correlates of natural movements and interaction error-related potentials (ErrP) to perform a 3D reaching task, focusing on the impact that such factors have on the evoked ErrP signatures and in their classification. APPROACH: Users attempted to control a 3D virtual interface that simulated their own hand, to reach and grasp two different objects. Three factors of interest were modulated during the experimentation: (1) execution speed of the grasping, (2) type of grasping and (3) mental strategy (motor imagery or real motion) used to produce motor commands. Thirteen healthy subjects carried out the protocol. The peaks and latencies of the ErrP were analyzed for the different factors as well as the classification performance. MAIN RESULTS: ErrP are evoked for erroneous commands decoded from neural correlates of natural movements. The analysis of variance (ANOVA) analyses revealed that latency and magnitude of the most characteristic ErrP peaks were significantly influenced by the speed at which the grasping was executed, but not the type of grasp. This resulted in an greater accuracy of single-trial decoding of errors for fast movements (75.65%) compared to slow ones (68.99%). SIGNIFICANCE: Understanding the effects of combining paradigms is a first step to design hybrid BCI that optimize decoding accuracy and can be deployed in motor substitution and neuro-rehabilitation applications.

Comparing Recalibration Strategies for Electroencephalography-Based Decoders of Movement Intention in Neurological Patients with Motor Disability.

Motor rehabilitation based on the association of electroencephalographic (EEG) activity and proprioceptive feedback has been demonstrated as a feasible therapy for patients with paralysis. To promote long-lasting motor recovery, these interventions have to be carried out across several weeks or even months. The success of these therapies partly relies on the performance of the system decoding movement intentions, which normally has to be recalibrated to deal with the nonstationarities of the cortical activity. Minimizing the recalibration times is important to reduce the setup preparation and maximize the effective therapy time. To date, a systematic analysis of the effect of recalibration strategies in EEG-driven interfaces for motor rehabilitation has not yet been performed. Data from patients with stroke (4 patients, 8 sessions) and spinal cord injury (SCI) (4 patients, 5 sessions) undergoing two different paradigms (self-paced and cue-guided, respectively) are used to study the performance of the EEG-based classification of motor intentions. Four calibration schemes are compared, considering different combinations of training datasets from previous and/or the validated session. The results show significant differences in classifier performances in terms of the true and false positives (TPs) and (FPs). Combining training data from previous sessions with data from the validation session provides the best compromise between the amount of data needed for calibration and the classifier performance. With this scheme, the average true (false) positive rates obtained are 85.3% (17.3%) and 72.9% (30.3%) for the self-paced and the cue-guided protocols, respectively. These results suggest that the use of optimal recalibration schemes for EEG-based classifiers of motor intentions leads to enhanced performances of these technologies, while not requiring long calibration phases prior to starting the intervention.

Volition-adaptive control for gait training using wearable exoskeleton: preliminary tests with incomplete spinal cord injury individuals.

BACKGROUND: Gait training for individuals with neurological disorders is challenging in providing the suitable assistance and more adaptive behaviour towards user needs. The user specific adaptation can be defined based on the user interaction with the orthosis and by monitoring the user intentions. In this paper, an adaptive control model, commanded by the user intention, is evaluated using a lower limb exoskeleton with incomplete spinal cord injury individuals (SCI). METHODS: A user intention based adaptive control model has been developed and evaluated with 4 incomplete SCI individuals across 3 sessions of training per individual. The adaptive control model modifies the joint impedance properties of the exoskeleton as a function of the human-orthosis interaction torques and the joint trajectory evolution along the gait sequence, in real time. The volitional input of the user is identified by monitoring the neural signals, pertaining to the user's motor activity. These volitional inputs are used as a trigger to initiate the gait movement, allowing the user to control the initialization of the exoskeleton movement, independently. A Finite-state machine based control model is used in this set-up which helps in combining the volitional orders with the gait adaptation. RESULTS: The exoskeleton demonstrated an adaptive assistance depending on the patients' performance without guiding them to follow an imposed trajectory. The exoskeleton initiated the trajectory based on the user intention command received from the brain machine interface, demonstrating it as a reliable trigger. The exoskeleton maintained the equilibrium by providing suitable assistance throughout the experiments. A progressive change in the maximum flexion of the knee joint was observed at the end of each session which shows improvement in the patient performance. Results of the adaptive impedance were evaluated by comparing with the application of a constant impedance value. Participants reported that the movement of the exoskeleton was flexible and the walking patterns were similar to their own distinct patterns. CONCLUSIONS: This study demonstrates that user specific adaptive control can be applied on a wearable robot based on the human-orthosis interaction torques and modifying the joints' impedance properties. The patients perceived no external or impulsive force and felt comfortable with the assistance provided by the exoskeleton. The main goal of such a user dependent control is to assist the patients' needs and adapt to their characteristics, thus maximizing their engagement in the therapy and avoiding slacking. In addition, the initiation directly controlled by the brain allows synchronizing the user's intention with the afferent stimulus provided by the movement of the exoskeleton, which maximizes the potentiality of the system in neuro-rehabilitative therapies.

Hierarchical decoding of grasping commands from EEG.

Brain-Computer Interfaces may present an intuitive way for motor impaired end users to operate assistive devices of daily life. Recent studies showed that complex kinematics like grasping can be successfully decoded from low frequency electroencephalogram. In this work we present a hierarchical method to asynchronously discriminate two different grasps often used in daily life actions (palmar, pincer) from a combined set of motor execution and motor intention. We compared sensorimotor rhythms based features and time features from the low frequency spectrum for best discrimination results. Our results show not only the principle feasibility of the proposed method with detection of asynchronous motor intention at rates of 80% accuracy and subsequent grasping discrimination over 60%, but also that low frequency time domain features provide a more consistent detection pattern. Although the basis of this results is still an off-line analysis we are confident that these results can be transferred to on-line use.

Advantages of EEG phase patterns for the detection of gait intention in healthy and stroke subjects.

OBJECTIVE: One use of EEG-based brain-computer interfaces (BCIs) in rehabilitation is the detection of movement intention. In this paper we investigate for the first time the instantaneous phase of movement related cortical potential (MRCP) and its application to the detection of gait intention. APPROACH: We demonstrate the utility of MRCP phase in two independent datasets, in which 10 healthy subjects and 9 chronic stroke patients executed a self-initiated gait task in three sessions. Phase features were compared to more conventional amplitude and power features. MAIN RESULTS: The neurophysiology analysis showed that phase features have higher signal-to-noise ratio than the other features. Also, BCI detectors of gait intention based on phase, amplitude, and their combination were evaluated under three conditions: session-specific calibration, intersession transfer, and intersubject transfer. Results show that the phase based detector is the most accurate for session-specific calibration (movement intention was correctly detected in 66.5% of trials in healthy subjects, and in 63.3% in stroke patients). However, in intersession and intersubject transfer, the detector that combines amplitude and phase features is the most accurate one and the only that retains its accuracy (62.5% in healthy subjects and 59% in stroke patients) w.r.t. session-specific calibration. SIGNIFICANCE: MRCP phase features improve the detection of gait intention and could be used in practice to remove time-consuming BCI recalibration.

Decoding Upper Limb Movement Attempt From EEG Measurements of the Contralesional Motor Cortex in Chronic Stroke Patients.

GOAL: Stroke survivors usually require motor rehabilitation therapy as, due to the lesion, they completely or partially loss mobility in the limbs. Brain-computer interface technology offers the possibility of decoding the attempt to move paretic limbs in real time to improve existing motor rehabilitation. However, a major difficulty for the practical application of the BCI to stroke survivors is that the brain rhythms that encode the motor states might be diminished due to the lesion. This study investigates the continuous decoding of natural attempt to move the paralyzed upper limb in stroke survivors from electroencephalographic signals of the unaffected contralesional motor cortex. RESULTS: Experiments were carried out with the aid of six severely affected chronic stroke patients performing/attempting self-selected reaching movements of the unaffected/affected upper limb. The electroencephalographic (EEG) analysis showed significant cortical activation on the uninjured motor cortex when moving the contralateral unaffected arm and in the attempt to move the ipsilateral affected arm. Using this activity, significant continuous decoding of movement was obtained in six out of six participants in movements of the unaffected limb, and in four out of six participants in the attempt to move the affected limb. CONCLUSION: This study showed that it is possible to construct a decoder of the attempt to move the paretic arm for chronic stroke patients using the EEG activity of the healthy contralesional motor cortex. SIGNIFICANCE: This decoding model could provide to stroke survivors with a natural, easy, and intuitive way to achieve control of BCIs or robot-assisted rehabilitation devices.

Control of an Ambulatory Exoskeleton with a Brain-Machine Interface for Spinal Cord Injury Gait Rehabilitation.

The closed-loop control of rehabilitative technologies by neural commands has shown a great potential to improve motor recovery in patients suffering from paralysis. Brain-machine interfaces (BMI) can be used as a natural control method for such technologies. BMI provides a continuous association between the brain activity and peripheral stimulation, with the potential to induce plastic changes in the nervous system. Paraplegic patients, and especially the ones with incomplete injuries, constitute a potential target population to be rehabilitated with brain-controlled robotic systems, as they may improve their gait function after the reinforcement of their spared intact neural pathways. This paper proposes a closed-loop BMI system to control an ambulatory exoskeleton-without any weight or balance support-for gait rehabilitation of incomplete spinal cord injury (SCI) patients. The integrated system was validated with three healthy subjects, and its viability in a clinical scenario was tested with four SCI patients. Using a cue-guided paradigm, the electroencephalographic signals of the subjects were used to decode their gait intention and to trigger the movements of the exoskeleton. We designed a protocol with a special emphasis on safety, as patients with poor balance were required to stand and walk. We continuously monitored their fatigue and exertion level, and conducted usability and user-satisfaction tests after the experiments. The results show that, for the three healthy subjects, 84.44 ± 14.56% of the trials were correctly decoded. Three out of four patients performed at least one successful BMI session, with an average performance of 77.6 1 ± 14.72%. The shared control strategy implemented (i.e., the exoskeleton could only move during specific periods of time) was effective in preventing unexpected movements during periods in which patients were asked to relax. On average, 55.22 ± 16.69% and 40.45 ± 16.98% of the trials (for healthy subjects and patients, respectively) would have suffered from unexpected activations (i.e., false positives) without the proposed control strategy. All the patients showed low exertion and fatigue levels during the performance of the experiments. This paper constitutes a proof-of-concept study to validate the feasibility of a BMI to control an ambulatory exoskeleton by patients with incomplete paraplegia (i.e., patients with good prognosis for gait rehabilitation).

Beyond p-values in the evaluation of brain-computer interfaces: A Bayesian estimation approach.

BACKGROUND: To statistically evaluate the performance of brain-computer interfaces (BCIs), researchers usually rely on null hypothesis significance testing (NHST), i.e. p-values. However, over-reliance on NHST is often identified as one of the causes of the recent reproducibility crisis in psychology and neuroscience. NEW METHOD: In this paper we propose Bayesian estimation as an alternative to NHST in the analysis of BCI performance data. For the three most common experimental designs in BCI research - which would usually be analyzed using a t-test, a linear regression, or an ANOVA - we develop hierarchical models and estimate their parameters using Bayesian inference. Furthermore, we show that the described models are special cases of the hierarchical generalized linear model (HGLM), which we propose as a general framework for the analysis of BCI performance. RESULTS: We demonstrate the effectiveness of the proposed models on three real datasets and show how the results obtained with Bayesian estimation can give a nuanced insight into BCI performance data. Additionally, we provide all the data and code necessary to reproduce the presented results. COMPARISON WITH EXISTING METHOD(S): Compared to NHST, Bayesian estimation with the HGLM allows more flexibility in the analysis of BCI performance data from nested experimental designs, and the obtained results have a more straightforward interpretation. CONCLUSIONS: Besides gains in flexibility and interpretability, a wider adoption of the Bayesian estimation approach in BCI studies could bring about greater transparency in data analysis, allow accumulation of knowledge across studies, and reduce questionable practices such as "p-hacking".

Asynchronous detection of kinesthetic attention during mobilization of lower limbs using EEG measurements.

OBJECTIVE: Attention is known to modulate the plasticity of the motor cortex, and plasticity is crucial for recovery in motor rehabilitation. This study addresses the possibility of using an EEG-based brain-computer interface (BCI) to detect kinesthetic attention to movement. APPROACH: A novel experiment emulating physical rehabilitation was designed to study kinesthetic attention. The protocol involved continuous mobilization of lower limbs during which participants reported levels of attention to movement-from focused kinesthetic attention to mind wandering. For this protocol an asynchronous BCI detector of kinesthetic attention and deliberate mind wandering was designed. MAIN RESULTS: EEG analysis showed significant differences in theta, alpha, and beta bands, related to the attentional state. These changes were further pinpointed to bands relative to the frequency of the individual alpha peak. The accuracy of the designed BCI ranged between 60.8% and 68.4% (significantly above chance level), depending on the used analysis window length, i.e. acceptable detection delay. SIGNIFICANCE: This study shows it is possible to use self-reporting to study attention-related changes in EEG during continuous mobilization. Such a protocol is used to develop an asynchronous BCI detector of kinesthetic attention, with potential applications to motor rehabilitation.

Sample size determination for BCI studies: How many subjects and trials?

Sample sizes and, consequently, statistical power have a large influence on the reliability of statistical results, but they are often neglected when planning and reporting studies of brain-computer interfaces (BCIs). This may be in part due to the limitations of classical power calculations, which do not apply to nested experimental designs, that are usually employed in BCI research. In this paper we introduce the methodology of simulation-based sample size determination (SSD) for the planning of BCI studies. We show how the proposed method can be used to determine the necessary number of subjects and trials to obtain a precise estimate of BCI accuracy, when the cost of sampling needs to be constrained by a budget. Furthermore, the method is fully general and can be applied in different experimental designs and in different statistical frameworks.

Detecting intention to walk in stroke patients from pre-movement EEG correlates.

BACKGROUND: Most studies in the field of brain-computer interfacing (BCI) for lower limbs rehabilitation are carried out with healthy subjects, even though insights gained from healthy populations may not generalize to patients in need of a BCI. METHODS: We investigate the ability of a BCI to detect the intention to walk in stroke patients from pre-movement EEG correlates. Moreover, we also investigated how the motivation of the patients to execute a task related to the rehabilitation therapy affects the BCI accuracy. Nine chronic stroke patients performed a self-initiated walking task during three sessions, with an intersession interval of one week. RESULTS: Using a decoder that combines temporal and spectral sparse classifiers we detected pre-movement state with an accuracy of 64 % in a range between 18 % and 85.2 %, with the chance level at 4 %. Furthermore, we found a significantly strong positive correlation (r = 0.561, p = 0.048) between the motivation of the patients to perform the rehabilitation related task and the accuracy of the BCI detector of their intention to walk. CONCLUSIONS: We show that a detector based on temporal and spectral features can be used to classify pre-movement state in stroke patients. Additionally, we found that patients' motivation to perform the task showed a strong correlation to the attained detection rate of their walking intention.

Teaching brain-machine interfaces as an alternative paradigm to neuroprosthetics control.

Brain-machine interfaces (BMI) usually decode movement parameters from cortical activity to control neuroprostheses. This requires subjects to learn to modulate their brain activity to convey all necessary information, thus imposing natural limits on the complexity of tasks that can be performed. Here we demonstrate an alternative and complementary BMI paradigm that overcomes that limitation by decoding cognitive brain signals associated with monitoring processes relevant for achieving goals. In our approach the neuroprosthesis executes actions that the subject evaluates as erroneous or correct, and exploits the brain correlates of this assessment to learn suitable motor behaviours. Results show that, after a short user's training period, this teaching BMI paradigm operated three different neuroprostheses and generalized across several targets. Our results further support that these error-related signals reflect a task-independent monitoring mechanism in the brain, making this teaching paradigm scalable. We anticipate this BMI approach to become a key component of any neuroprosthesis that mimics natural motor control as it enables continuous adaptation in the absence of explicit information about goals. Furthermore, our paradigm can seamlessly incorporate other cognitive signals and conventional neuroprosthetic approaches, invasive or non-invasive, to enlarge the range and complexity of tasks that can be accomplished.

Evolution of EEG Motor Rhythms after Spinal Cord Injury: A Longitudinal Study.

Spinal cord injury (SCI) does not only produce a lack of sensory and motor function caudal to the level of injury, but it also leads to a progressive brain reorganization. Chronic SCI patients attempting to move their affected limbs present a significant reduction of brain activation in the motor cortex, which has been linked to the deafferentation. The aim of this work is to study the evolution of the motor-related brain activity during the first months after SCI. Eighteen subacute SCI patients were recruited to participate in bi-weekly experimental sessions during at least two months. Their EEG was recorded to analyze the temporal evolution of the event-related desynchronization (ERD) over the motor cortex, both during motor attempt and motor imagery of their paralyzed hands. The results show that the α and ß ERD evolution after SCI is negatively correlated with the clinical progression of the patients during the first months after the injury. This work provides the first longitudinal study of the event-related desynchronization during the subacute phase of spinal cord injury. Furthermore, our findings reveal a strong association between the ERD changes and the clinical evolution of the patients. These results help to better understand the brain transformation after SCI, which is important to characterize the neuroplasticity mechanisms involved after this lesion and may lead to new strategies for rehabilitation and motor restoration of these patients.

Analysis and asynchronous detection of gradually unfolding errors during monitoring tasks.

Human studies on cognitive control processes rely on tasks involving sudden-onset stimuli, which allow the analysis of these neural imprints to be time-locked and relative to the stimuli onset. Human perceptual decisions, however, comprise continuous processes where evidence accumulates until reaching a boundary. Surpassing the boundary leads to a decision where measured brain responses are associated to an internal, unknown onset. The lack of this onset for gradual stimuli hinders both the analyses of brain activity and the training of detectors. This paper studies electroencephalographic (EEG)-measurable signatures of human processing for sudden and gradual cognitive processes represented as a trajectory mismatch under a monitoring task. Time-locked potentials and brain-source analysis of the EEG of sudden mismatches revealed the typical components of event-related potentials and the involvement of brain structures related to cognitive control processing. For gradual mismatch events, time-locked analyses did not show any discernible EEG scalp pattern, despite related brain areas being, to a lesser extent, activated. However, and thanks to the use of non-linear pattern recognition algorithms, it is possible to train an asynchronous detector on sudden events and use it to detect gradual mismatches, as well as obtaining an estimate of their unknown onset. Post-hoc time-locked scalp and brain-source analyses revealed that the EEG patterns of detected gradual mismatches originated in brain areas related to cognitive control processing. This indicates that gradual events induce latency in the evaluation process but that similar brain mechanisms are present in sudden and gradual mismatch events. Furthermore, the proposed asynchronous detection model widens the scope of applications of brain-machine interfaces to other gradual processes.

Exploiting Task Constraints for Self-Calibrated Brain-Machine Interface Control Using Error-Related Potentials.

This paper presents a new approach for self-calibration BCI for reaching tasks using error-related potentials. The proposed method exploits task constraints to simultaneously calibrate the decoder and control the device, by using a robust likelihood function and an ad-hoc planner to cope with the large uncertainty resulting from the unknown task and decoder. The method has been evaluated in closed-loop online experiments with 8 users using a previously proposed BCI protocol for reaching tasks over a grid. The results show that it is possible to have a usable BCI control from the beginning of the experiment without any prior calibration. Furthermore, comparisons with simulations and previous results obtained using standard calibration hint that both the quality of recorded signals and the performance of the system were comparable to those obtained with a standard calibration approach.

Continuous detection of the self-initiated walking pre-movement state from EEG correlates without session-to-session recalibration.

OBJECTIVE: Brain-computer interfaces (BCI) as a rehabilitation tool have been used to restore functions in patients with motor impairments by actively involving the central nervous system and triggering prosthetic devices according to the detected pre-movement state. However, since EEG signals are highly variable between subjects and recording sessions, typically a BCI is calibrated at the beginning of each session. This process is inconvenient especially for patients suffering locomotor disabilities in maintaining a bipedal position for a longer time. This paper presents a continuous EEG decoder of a pre-movement state in self-initiated walking and the usage of this decoder from session to session without recalibrating. APPROACH: Ten healthy subjects performed a self-initiated walking task during three sessions, with an intersession interval of one week. The implementation of our continuous decoder is based on the combination of movement-related cortical potential (MRCP) and event-related desynchronization (ERD) features with sparse classification models. MAIN RESULTS: During intrasession our technique detects the pre-movement state with 70% accuracy. Moreover this decoder can be applied from session to session without recalibration, with a decrease in performance of about 4% on a one- or two-week intersession interval. SIGNIFICANCE: Our detection model operates in a continuous manner, which makes it a straightforward asset for rehabilitation scenarios. By using both temporal and spectral information we attained higher detection rates than the ones obtained with the MRCP and ERD detection models, both during the intrasession and intersession conditions.